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Minor Code Cleanup

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This commit is contained in:
Keenan D. Buckley
2020-01-30 23:21:35 -07:00
parent 5cb458082a
commit 009443b044
1 changed files with 3 additions and 8 deletions
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src/main/java/frc4388/robot/subsystems/Drive.java
+3 -8
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@@ -77,9 +77,10 @@ public class Drive extends SubsystemBase {
m_leftFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.IntegratedSensor, // Local Feedback Source
DriveConstants.PID_PRIMARY, // PID Index for Source [0, 1]
DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout
/*m_rightFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.IntegratedSensor, // Local Feedback Source
/*m_rightFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.IntegratedSensor, // Local Feedback Source
DriveConstants.PID_PRIMARY, // PID Index for Source [0, 1]
DriveConstants.DRIVE_TIMEOUT_MS);*/ // Configuration Timeout
DriveConstants.DRIVE_TIMEOUT_MS);*/ // Configuration Timeout
/* Configure the Remote Talon's selected sensor as a remote sensor for the right Talon */
m_rightFrontMotor.configRemoteFeedbackFilter( m_leftFrontMotor.getDeviceID(), // Device ID of Source
@@ -113,10 +114,6 @@ public class Drive extends SubsystemBase {
m_rightFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.RemoteSensor1,
DriveConstants.PID_TURN,
DriveConstants.DRIVE_TIMEOUT_MS);
/*m_rightFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.RemoteSensor1,
DriveConstants.PID_TURN,
DriveConstants.DRIVE_TIMEOUT_MS);*/
/* Don't scale the Feedback Sensor (use 1 for 1:1 ratio) */
m_rightFrontMotor.configSelectedFeedbackCoefficient( 1,
@@ -342,8 +339,6 @@ public class Drive extends SubsystemBase {
double[] ypr = new double[3];
m_pigeon.getYawPitchRoll(ypr);
return ypr[0];
//m_pigeon.(ypr);
//return ypr[0];
}
public double getGyroPitch() {